Local autonomy test 1

controller/lockdown.py

@@ -0,0 +1,3 @@
+import state
+
+state.safely_panic()

controller/state/__init__.py

@@ -3,25 +3,31 @@ from state.server import Server
 from state.changer import Changer
 from state.file import File
 
+def safely_panic():
+    safe_state = {}
+    changer = Changer(safe_state,safe_state)
+    changer.stop_everything
+
+
 def sync():
-    server = Server(config.API_BASE_URL, config.CONTROLLER_ID)
+    try:
-    local = File(config.STATE_FILE)
+        server = Server(config.API_BASE_URL, config.CONTROLLER_ID)
-    server_state = server.get_state()
+        local = File(config.STATE_FILE)
+        server_state = server.get_state()
 
+        if local.present():
+            local.load()
+            print "local present: " + repr(local.data)
+        else:
+            local.data = server_state
+            print "local not present, server: " + repr(local.data)
+            local.save()
 
+        local_state = local.data
 
-    if local.present():
+        changer = Changer(local_state, server_state)
-        local.load()
+        current_state = changer.process_change()
-        print "local present: " + repr(local.data)
-    else:
-        local.data = server_state
-        print "local not present, server: " + repr(local.data)
-        local.save()
 
-
+        server.post_state(current_state)
-    local_state = local.data
+    except:
-
+        safely_panic();
-    changer = Changer(local_state, server_state)
-    current_state = changer.process_change()
-
-    server.post_state(current_state)

controller/state/changer.py

@@ -24,6 +24,10 @@ class Changer(object):
             'closed': self.close_in_valve
         }
 
+    def stop_everything:
+        self.close_in_valve
+        self.close_out_valve
+
     def safe_remote_state(self, key):
         if key in ['out_valve', 'in_valve']:
             return self.remote_state.get(key, 'closed')